How amap-cvlab/abot-claw works
ABot-Claw is a layered robotic-agent framework: an OpenClaw-side agent initiates tasks through a Piper robot server, which exposes robot state, execution, and control; separate services provide vision, grasping, task criticism, and persistent spatial memory. The README documents broader multi-robot VLA/WAM collaboration, but this tree contains only a Piper robot implementation and does not expose the OpenClaw runtime or those other robot implementations. Service-to-robot call wiring is not established by the sampled excerpts, so those links are omitted.
Main entry points: server.py Robot API · routes.py Memory API · code_routes.py Code execution API · lease_routes.py Lease API
Components 21
Piper robot
- Robot API
robot_layer/arm_piper/agent_server/server.py - Code execution API
robot_layer/arm_piper/agent_server/routes/code_routes.py - Lease API
robot_layer/arm_piper/agent_server/routes/lease_routes.py - State API
robot_layer/arm_piper/agent_server/routes/state_routes.py - Rewind API
robot_layer/arm_piper/agent_server/routes/rewind_routes.py - Display API
robot_layer/arm_piper/agent_server/routes/display_routes.py - Code executor
robot_layer/arm_piper/agent_server/code_executor.py - Lease manager
robot_layer/arm_piper/agent_server/lease.py - State aggregator
robot_layer/arm_piper/agent_server/state.py - Piper SDK
robot_layer/arm_piper/agent_server/robot_sdk/piper_sdk.py - Rewind orchestrator
robot_layer/arm_piper/system_logger/system_logger/rewind_orchestrator.py
Perception services
- Object detection
service_layer/YOLO/main.py - VLAC critic
service_layer/VLAC/main.py - Grasp detection
service_layer/GraspAnything/main.py
Spatial memory
- Memory API
service_layer/SpatialMemory/app/api/routes.py - Memory service
service_layer/SpatialMemory/app/services/memory_service.py - Pipeline tasks
service_layer/SpatialMemory/app/services/task_service.py - Offline keyframes
service_layer/SpatialMemory/pipelines/offline_keyframe_pipeline.py - Memory database
service_layer/SpatialMemory/app/storage.py
Other components
- OpenClaw agent
- Piper arm
Connections 20
- OpenClaw agent → Robot API: sends tasks
- Robot API → Code execution API: registers routes
- Robot API → Lease API: registers routes
- Robot API → State API: registers routes
- Robot API → Rewind API: registers routes
- Robot API → Display API: registers routes
- Code execution API → Code executor: dispatches code
- Lease API → Lease manager: uses manager
- State API → State aggregator: reads state
- State aggregator → Piper SDK: polls robot
- Piper SDK → Piper arm: controls arm
- Rewind API → Rewind orchestrator: requests rewind
- Memory API → Memory service: calls memory
- Memory API → Pipeline tasks: creates tasks
- Memory service → Memory database: reads and writes
- Pipeline tasks → Memory database: stores task state
- Object detection → OpenClaw agent: returns detections
- VLAC critic → OpenClaw agent: returns critique
- Grasp detection → OpenClaw agent: returns grasp poses
- Memory API → OpenClaw agent: serves memory queries